CN102812494A - Motion visualisation in angiographic images - Google Patents
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Abstract
A method and an apparatus for motion visualization of a moving object in angiographic images are described. In a preferred embodiment of the method, first a mask image of the object of interest is acquired and a sequence of angiographic images of the object in different phases of motion of the object is acquired. Then, a first angiographic subtraction image and at least a second angiographic subtraction image are generated by subtracting the angiographic images from the mask image. Subsequently, a twice subtracted image is generated by subtracting the first angiographic subtraction image from the second angiographic subtraction image. In this way a double subtraction, i.e. a twice subtracted angiography is performed, to facilitate the assessment of the motion.
Description
Technical field
What the present invention relates to move in the angiographic image is visual.Particularly, the present invention relates to be used for the mobile motion of objects visualization method and the equipment of angiographic image.In addition, the invention still further relates to and when it moves on computers, can control the computer program element of this method and relate to the computer-readable medium that stores such computer program element above that.
Background technology
In numerous scientific domains, for the observer provides the image of objects or image sequence extremely important.In many application, objects possibly move.Especially in some medical domains, providing maybe be extremely important about the accurate data of motion of objects.
For good data is provided, and, can handle image especially in order to provide to moving the good visualization of object.For example, can carry out digital outline angiography described in JP 10031745A.
Yet, possibly be difficult to motion assessed according to a sequence image, quick, irregular and/or compare under the less situation especially true in this motion with size of images or peripheral motion of objects.
Summary of the invention
Realization realizes thus also that to the visual improvement of the motion of objects to the more reliable of said motion and assessment accurately will be favourable.
According to a first aspect of the invention, a kind of motion visualization method that is used for the mobile objects of angiographic image is provided.This method comprise the steps: to gather objects background mask image and in the angiographic image sequences of the said object of different motion phase acquisition of said object; Generate the first angiogram subtraction image and at least the second angiogram subtraction image through deduct angiographic image from mask image; Generate the image that subtracts each other for twice through deducting the first angiogram subtraction image from the second angiogram subtraction image.
In other words, first aspect of the present invention can be regarded as based on such conception: carry out two-phase and subtract, the angiogram of promptly subtracting each other for twice is so that the assessment to moving.At first, digital outline angiogram (DSA) is through deducting mask image in the every width of cloth from the angiographic image of being gathered or opposite operation is carried out.The image sequence that obtains from DSA comprises at least two width of cloth images, i.e. the first angiogram subtraction image and at least the second angiogram subtraction image.DSA provides the have objects angiogram subtraction image of expression of enhancing of (for example blood vessel structure).After DSA, carry out and subtract each other for the second time, in this process, deduct another width of cloth angiogram subtraction image of at least one width of cloth that in DSA, generates in the width of cloth from the angiogram subtraction image that among DSA, generates.That is, deduct the for example first angiogram subtraction image from the one or more second angiogram subtraction image.Said second subtracts each other the image that subtracts each other for twice is provided, and it only shows the difference between two width of cloth angiogram subtraction image.Therefore, only there is the displacement of object in the image visible.Carrying out after two-phase subtracts, can the image that subtract each other for twice be provided to the observer.
The collection of angiogram blood-vessel image sequence can be represented from database or memory search; Perhaps can represent to obtain image through specific technology; Said technology for example is x-ray imaging, particularly rotational x-ray imaging, computer tomography (CT) and magnetic resonance (MR).Said image can be data, frame, frame sequence or its visual representation.
Mobile object can also be represented as objects.The mobile object of in angiographic image, representing can be blood vessel, heart, coronary artery, coronary vein fault, particularly aneurysm.
The sequence of angiographic image comprises at least two width of cloth and the preferred some width of cloth images of gathering with certain mode, makes the mode of said objects to strengthen, for example after injection of contrast medium, by visual.With regard to the object of cyclical movement, the sequence of angiographic image can cover some periods of motion.Said sequence for example is one group or a series of images, and it accompanies in time each other, and can be used as film and observe.
The sequence of angiographic image representes to be in the not object of phase (phase) simultaneously of motion.Motion the time mutually can be relevant or be correlated with breathing with heartbeat.Motion the time depend on mutually under the situation of heartbeat that angiographic image can represent for example to be in the not phase simultaneously of cardiac cycle, for example be in systole phase and diastole and those two when extreme between mutually the time phase blood vessel or aneurysm.Mobile object can be periodically, be pulsating move.
Mask images can be the image gathered during the time period of contrast preparation in such as the objects of blood vessel, not occur.During the collection of angiographic image, contrast preparation can appear in the blood vessel.Said mask images has demonstrated identical object and objects with angiographic image, and promptly said mask images was gathered before contrast preparation appears in the blood vessel.Said angiographic image can be gathered during contrast preparation appears at the time period in the blood vessel.Said mask images can be the part of angiographic image sequences and can be before the collection of angiographic image, to gather.Said mask images can deduct from angiographic image or alternatively said angiographic image can deduct from mask images.
Under the situation of cyclical movement, mask images can be each phase acquisition to motion, and from the corresponding angiographic image of same phase collection, deducting respectively.
Deduct mask images from angiographic image sequences the first angiogram subtraction image and at least one second blood vessel subtraction image are provided, wherein, for example, blood vessel is reinforced and is removed such as the non-structures of interest of bone and compact tissue.Said mask images can be from said sequence every width of cloth angiogram image subtraction.In second subtracts each other, subtract each other each other through the angiogram subtraction image that will in first subtracts each other, receive and to generate at least one image that subtracts each other for twice.For example, the image of confirming in advance, still image for example, the promptly said first angiogram subtraction image can be represented the objects corresponding to systaltic motion state.This first angiogram subtraction image can be from expression not deducting the second angiogram subtraction image of phase such as diastolic motion simultaneously.The said first blood vessel subtraction image can promptly deduct in the second angiogram subtraction image from every other angiogram subtraction image, and said other angiogram subtraction image are included in the sequence of the angiographic image that therefrom deducts mask images.The image that resulting one or more are subtracted each other for twice can only illustrate the displacement of object.Compare with said object when the periphery of object and to move and when being identical in the first angiogram subtraction image and the second angiogram subtraction image, especially this situation.Perhaps, the motion of the peripheral structure of object is compared little of ignoring with motion of objects.First subtracts each other and second subtracts each other and can carry out simultaneously or preferably carry out in succession.
Through generating the image that subtracts each other for twice, even can be so that the little detection of motion of small object also becomes possibility with assessment, and the assessment of this motion can be provided convenience for the observer.
According to embodiments of the invention, said method comprises that the angiographic image that also comprises the object of phase when expression is in motion identical asks average.
With regard to periodically moving object, the sequence of angiographic image can comprise some width of cloth images of the object of phase when expression is in stage identical, if said sequence comprises the several times round-robin words of motion.For example, with regard to heartbeat, the sequence of angiographic image can comprise the several times heartbeat and comprise the for example systaltic some width of cloth angiographic images of expression thus and represent diastolic some angiographic images.Sort out mutually when the image of the sequence of angiographic image can be at first for example according to its heart and when identical then the image of phase can be asked average.Therefore, the angiographic image sequences of after asking average step, for example representing some cardiac cycles is only represented a cardiac cycle.
Said asking on average through the reduction noise and in addition through for example reducing to appear at the irregular quality and the accuracy that can strengthen the image that is generated of the contrast concentration in the blood vessel.
According to a second aspect of the invention, provide a kind of angiographic image that is used for to move the visual equipment of motion of objects.Said equipment comprises first subtracter, and it is used for generating the first angiogram subtraction image and at least the second angiogram subtraction image through deduct angiographic image from mask images.Said equipment also comprises second subtracter, and it is used for generating the image that subtracts each other for twice through deducting the first angiogram subtraction image from the second angiogram subtraction image.
Said equipment can also comprise visual detector or image retrieval device, and it is used to gather the not image of the object of phase simultaneously that is in motion.In addition, said equipment can comprise and for example be used to provide second result that subtract each other that the display of the image that promptly subtracts each other for twice or screen make because the difference that said motion of objects causes can be by visual.The unit that said first subtracter and said second subtracter can be said equipment, said unit is connected to each other and/or is connected to storer and processor.
According to a third aspect of the invention we, a kind of computer program element is provided, when said computer program element is carried out on computers, can have controlled the described method of preceding text.
According to a forth aspect of the invention, a kind of computer-readable medium with computer program element mentioned above is provided.
Embodiments of the invention have been should be noted that with reference to different subject descriptions.Particularly, some embodiment are that the claim of reference method type is described, and other embodiment to be claims of reference device type describe.Yet; Those skilled in the art will recognize from the description of preceding text and hereinafter, except as otherwise noted, and except belonging to one type the combination of features of theme; Belong between the characteristic of different themes; Particularly, the combination in any between the characteristic of the characteristic of device type claim and Method type claim also is considered to disclose in the present invention.
Can derive the each side and other aspects, feature and advantage that preceding text of the present invention limit from the example of the embodiment of context-descriptive.With more detailed hereinafter description the present invention of example of reference implementation example, but its also unrestricted the present invention.
Description of drawings
Fig. 1 shows and schematically shows the process flow diagram that is used for carrying out according to embodiments of the invention the motion visualization method;
Fig. 2 shows and schematically shows the process flow diagram that is used for carrying out according to another embodiment of the present invention the motion visualization method;
Fig. 3 A has schematically shown the not average blood vessel subtraction image of the aneurysmal warp of phase simultaneously that the expression that will use in an embodiment of the present invention is in cardiac cycle;
Fig. 3 B has schematically shown the aneurysmal image that subtracts each other for twice in Fig. 3 A that generates according to embodiments of the invention;
Fig. 4 A and 4B show another example of the image sequence that is similar to Fig. 3 A and 3B;
Fig. 5 A and 5B show another example of the image sequence that is similar to Fig. 3 A and 3B;
Fig. 6 schematically shown according to embodiments of the invention in angiographic image to the motion object visual equipment that moves.
Diagram in the accompanying drawing only is schematic.Will be appreciated that in different drawings, similar or identical key element is endowed identical Reference numeral.
Reference numerals list
1 object
3 expressions are in the not average angiogram of aneurysmal warp of phase simultaneously of cardiac cycle
The sequence of picture
The sequence of 5 aneurysmal twice subtraction image
7 displays
9 X-ray detectors
The 11 visual equipment that are used to move
13 first subtracters
15 second subtracters
17 processors
The not phase simultaneously of a-e motion
The mask image of S1 acquisition target
S3 gathers the not angiographic image of the said object of phase simultaneously be in motion of objects
Sequence
S5 generates first angiogram and subtracts each other figure through deduct angiographic image from mask image
The picture and at least the second angiogram subtraction image
S7a is through deducting for first angiogram subtraction image next life from the second angiogram subtraction image
Become the image that subtracts each other for twice
S7b deducted for first angiogram subtraction image next life from some second angiogram subtraction image
Become some images that subtract each other for twice
S9 selects object wherein to be filled the angiographic image of contrast preparation
S11 confirms the time phase of the motion at least two width of cloth angiographic images
S13 selects the first angiogram subtraction image, makes in the first angiogram subtraction image, to show
The phase when stage of the motion of showing is move extreme
S15 registration angiographic image
The angiographic image of the object of phase asked average when S17 was in motion identical to expression
S19 shows the image that subtracts each other twice
Embodiment
The example of the embodiment of the object that hereinafter, stands to move can be an aneurysm.Whether under the possible situation of aneurysmal disposal, whether should be evaluated at the risk of breaking during the disposal higher or should aneurysm not disposed.The aneurysm wall motion possibly be a factor of indicating the risk of breaking.Aneurysm wall motion is relevant with aneurysmal local bio-mechanical attribute, and the amount of the damage that it stands with tissue then is relevant.If it is more that the part of aneurysm wall moves than another part, the there has the thin spot of wall, and it possibly increase the risk of breaking.Under the situation that aneurysm wall does not move, this possibly indicate the low-risk of breaking.Therefore, its visual for the motion that makes aneurysm wall possibly be very important so that situation is assessed.
Aneurysm can be come visual by angiographic image.Sequence according to angiographic image possibly be difficult to the assessment that aneurysm wall moves.For example, the sequence of said angiographic image can be gathered with the speed of per second 5 frames or image.Preferably, said angiographic sequence is to gather with the two-forty of about per second 30 frames or image.If such sequence shows that with normal speed said motion is shown as to flash but be difficult to and assesses.If said sequence shows that with low-down speed said motion is no longer visible, because said motion is too small.In addition, need require to carry out user interactions with the method for quality that strengthens said expression from said sequence selection frame, and be coarse and very consuming time therefore.
The embodiment of the method shown in Fig. 1 and Fig. 2 can help to provide better motion visual and be convenient to aneurysm wall for example motion thus and estimate.
Fig. 1 shows to schematically show and is used for the visual process flow diagram that moves according to an embodiment of the invention.In step S 1, gather the for example mask images of aneurysmal object.In step S3, gather the not sequence of the angiographic image of the said object of phase simultaneously be in motion of objects.The collection of mask images occurs in before contrast preparation appears in the object.Gather the sequence of angiographic image during in contrast preparation appears at subject.The collection of mask images can also be the part of step S3.Perhaps, step S1 and step S3 can carry out simultaneously or carry out in succession.In the implementation, said mask images can be from database retrieval during the collection of angiographic image sequences in step S1 and S3.
In step S5, carry out first and subtract each other.Wherein, through deducting angiographic image from mask images or through generating the first angiogram subtraction image from angiogram image subtraction mask images and at least the second angiogram is subtracted each other.The motion of the said first angiogram subtraction image and the second angiogram subtraction image indicated object not simultaneously not mutually.In addition, motion the time mutually can indicated object the time phase of cyclical movement.
Motion the time mutually for example can be phase during such as heart contraction or diastolic heart.In addition, motion the time mutually for example can be phase during such as air-breathing or the breathing of exhaling.In addition, motion the time can be stacks mutually such as heartbeat and respirometric combination some kinds motions.
In step S7a and S7b, carry out second and subtract each other.In step S7a, generate the image that subtracts each other for twice through deducting the first angiogram subtraction image from the second angiogram subtraction image.Perhaps, in step S7b, through from some, preferably all second angiogram subtraction image deduct the first angiogram subtraction image and generate some images that subtract each other for twice.For example, according to step S7a, mutually difference when the image that subtracts each other for twice can represent that heart contraction is moved with diastole.According to step S7b; Said second subtracts each other the sequence of the image that can obtain subtracting each other for twice: from other angiogram subtraction image; The i.e. second angiogram subtraction image; Deduct the predefined image of width of cloth ability, for example fixing image, the first angiogram subtraction image of phase when promptly representing a heart.
The step of said method can automatically perform.Automatically can represent not have necessity of user interactions.That the robotization of said method can provide better quality and accurate data more, its data that can Billy generate with the method that need user interactions have better repeatability of tool.
Said mobile object can be aneurysm, blood vessel structure, heart or vascular malformation body.In addition, said motion can be cause by heartbeat and by cardiac cycle the time represent mutually, and/or its can be cause by breathing and by respiration cycle the time represent mutually.
In Fig. 2, appeared and schematically shown the process flow diagram that carries out the motion visualization method according to another embodiment of the present invention.
Step S1, S3, S5, S7a and S7b are similar to the example shown in Fig. 1 and carry out.After first subtracted each other, in step S5, some other step S9 to S17 can be included in the said method.In addition, step S19 can follow step S7a and/or S7b.
In step S5, generate after the angiogram subtraction image of DSA, be chosen in the angiogram subtraction image (step S9) that object (being aneurysm) wherein is filled contrast preparation.Perhaps, before execution first is subtracted each other in step S5, in blood vessel, there is the image of contrast preparation in the sequence of selection angiographic image.That is, step S9 can carry out after step S3.Step S9 can strengthen the quality of the image that twice of gained subtract each other, because for example noise can be through reducing need not to select image under the situation of contrast preparation.
In step S11, the time phase of the motion at least two width of cloth angiogram subtraction image of confirming after DSA, to receive.Preferably, confirm the time phase of the motion in all angiogram subtraction image.For example, in step S11, the angiogram subtraction image can be sorted out according to its heart phase.Said classification can be based on cardiogram (based on ECG) or based on image.In order to confirm the time phase of motion, gather the motor message of expression motion, like for example ECG signal or breath signal.Said ECG signal can allow the accurate of motion stage confirmed, and thus, can realize the accurate classification to the angiogram subtraction image.The ECG signal can be parallel to step S1 and S3 gathers, and perhaps can alternatively from database, retrieve.The collection that is parallel to the ECG signal of step S1 can realize the classification to some mask images, the corresponding mask image that for example makes collection from the angiogram subtraction image of when systaltic, gathering mutually deducts when systaltic mutually.
Perhaps, based on the time phase of the analysis of angiogram subtraction image self being confirmed move in the angiogram subtraction image.Classification based on image possibly need less complex device.
Step S11 alternatively can carry out after step S3 and before step S5.It is the sequence that said classification can be based on the angiographic image before DSA among the step S5.In addition, can be based on the time phase of the analysis of the angiographic image before DSA in step S5 being confirmed motion.
In step S11, confirm motion the time mutually after, in step S13, select the first angiogram subtraction image.Can select the said first angiogram subtraction image, the time phase when being motion extreme mutually that makes the motion in the first angiogram subtraction image, represented.During motion extreme can be the time phase of motion that obtains the maximum or minimum distortion of object mutually.With regard to cardiac cycle, can be heart contraction and diastole mutually during motion extreme.The first angiogram subtraction image of phase can help to strengthen the visual quality of motion when selecting expression motion extreme because when motion extreme mutually in, it possibly be maximum that the distortion of object is compared with other angiographic images of said sequence.
In addition, in step S15, angiographic image can be by Rigid Registration after step S03.Promptly confirm the spatial correspondence between at least two width of cloth angiographic images.In other words, through one of rotation and translation image it is changed to aim at said image.Perhaps, step of registration S15 can utilize step S5 angiogram subtraction image afterwards to implement.That is, in step S5 first subtract each other after, can said first angiogram subtraction image of registration and the said second angiogram subtraction image.
In mobile objects is under the aneurysmal situation, known two types pulsating motion.Aneurysm and to also have the pulsating expansion of father's artery to swing with pulsating be possible.This two type of motion can both be enhanced in visual according to the present invention.Under the expansion of pulsating only will be by visual situation, the expression motion do not utilize Rigid Registration and registration each other simultaneously before the angiographic image of phase the subtracting each other in step S7a and S7b.Wherein, in Rigid Registration, through relative to each other two width of cloth images are aimed in the translation and the rotation of compensating images.Rigid Registration possibly be favourable because its from image, remove will be by visual motion owing to avoided the distortion of image during registration.
In step S17, carry out the object of phase when expression is in motion identical the angiogram subtraction image ask average.Asking in step S17 on average can be based on time the confirming of carrying out among the step S11 of phase to motion.For example, the image of phase is by average, so that reduce influence and the reduction noise that contrast concentration changes during same cardiac.Therefore, in step S17, generate the average sequence of warp of angiogram subtraction image, it representes a cardiac cycle.Be in cardiac cycle not simultaneously the average sequence of the warp of the aneurysmal angiogram subtraction image of phase in Fig. 3 A, 4A and 5A, be illustrated, and represent with Reference numeral 3.
That perhaps, asks that average step S17 can be in step S11 first carries out before subtracting each other.Promptly.Said angiographic image can be by on average.
After asking average step S17, execution in step S7a or step S7b.Wherein, from can be used as the first angiogram subtraction image (step S7a) of asking average result of not deducting the second angiogram subtraction image of asking average result of the angiogram subtraction image of phase simultaneously of motion angiogram subtraction image of phase when can be used as expression motion identical.Perhaps, in step S7b, from every second angiogram subtraction image, deduct as asking the first angiogram subtraction image of average result, wherein, phase asked average result when the said second angiogram subtraction image represented to come other of autokinesis.
In other words, select the first angiogram subtraction image, still image for example, phase when for example expression finishes heart contraction.Deduct this still image from the average sequence of the warp of angiogram subtraction image.This result who subtracts each other is twice angiographic image sequences of subtracting each other.
Perhaps, the selection step of the first angiogram subtraction image of phase can be asking average step S17 after and in step S7a and S7b execution before during to expression motion extreme in step S13.The example of the aneurysmal image sequence that subtracts each other for twice is illustrated in Fig. 3 B, 4B and 5B, and utilizes Reference numeral 5 to represent.
In step S19, show the image that subtracts each other for twice.For example can be after carrying out corresponding step or alternatively carry out provide immediately after in steps, promptly show first result, the result who asks average result and second to subtract each other that subtract each other.The result who is mentioned can on the different displays by visual or alternatively on same display by visual.In addition, they can be in succession or side by side by visual.
In Fig. 3,4 and 5, show the visual example of angiographic sequence.Wherein, in Fig. 3 A, 4A and 5A, subtract each other (step S5) and ask average (step S17) to appear afterwards through average angiographic image in execution first.
In Fig. 3 B, 4B and 5B, presented the visual of twice subtraction image sequence after execution in step S7b.Be shown as the not phase (a, b, c, d, e) simultaneously that is in motion for aneurysmal object 1 herein.In the average DSA sequence of the warp shown in Fig. 3 A, 4A and the 5A, there is not aneurysmal wall motion visible.After second subtracted each other, the aneurysm wall motion became visible in Fig. 3 B, 4B, 5B.Do not demonstrate motion in the aneurysm shown in Fig. 5, as can be in Fig. 5 B describe in visible.The disappearance of motion of objects is second the reason of " blank " expression after subtracting each other in Fig. 5 B.
In the example in Fig. 3 A, deduct the angiogram subtraction image of expression end diastole stage (a) from the second angiogram subtraction image of expression motion stage b, c, d and e.Shown in Fig. 3 B, first image shows " blank " expression, because the first angiogram subtraction image is deducted from this expression self.When the first angiogram subtraction image was deducted by the second angiogram subtraction image from be in cardiac systolic stage (e), maximum difference was by visual.
In Fig. 6,, schematically shown and be used for moving the visual equipment 11 of motion of objects at angiographic image according to embodiments of the invention.
In addition, equipment 11 comprises second subtracter 15, and it is used for generating the image that subtracts each other for twice through deducting the first angiogram subtraction image from the second angiogram subtraction image.First subtracter 13 can be the part of processor 17 with second subtracter 15 or can be connected with processor 17.In addition, equipment 11 can comprise one or several displays 7, and it is used to provide second result that subtract each other, makes the difference of said motion of objects by visual.Processor 17, display 7 and X camera detector 9 can be led to cable or wirelessly be connected.
Will be appreciated that term " comprises ", " comprising " etc. do not get rid of other elements or step, and " one ", " one " do not get rid of plural number.The unit that all right incorporate various embodiment is described.Will be appreciated that the reference marker in claim should not be interpreted as the scope that shows claim.In addition; Computer program can be stored and/or be distributed on the suitable medium; Such as optical storage medium or solid state medium; It provides with other hardware or as the part of other hardware, but said computer program also can distribute with other forms, such as via the Internet or other wired or wireless telecommunication systems.
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| PCT/IB2011/050926 WO2011110987A1 (en) | 2010-03-12 | 2011-03-04 | Motion visualisation in angiographic images |
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| EP (1) | EP2545528B1 (en) |
| JP (1) | JP6043187B2 (en) |
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| Publication number | Publication date |
|---|---|
| US20120321156A1 (en) | 2012-12-20 |
| CN102812494B (en) | 2016-03-09 |
| US9025840B2 (en) | 2015-05-05 |
| WO2011110987A1 (en) | 2011-09-15 |
| JP2013521849A (en) | 2013-06-13 |
| EP2545528A1 (en) | 2013-01-16 |
| JP6043187B2 (en) | 2016-12-14 |
| EP2545528B1 (en) | 2021-01-06 |
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